Visual interface for motorized endoscope control

Abstract

A steerable medical device display system includes a handle and an elongate shaft extending distally from the handle to a distal tip; the motor control assembly comprises a motor control shell which is configured to be detachably connected with the handle; a first deflection mechanism disposed within the handle, the first deflection mechanism configured to deflect the distal tip in a first plane; and a workstation in electronic communication with the motor control assembly, the workstation comprising at least one display screen. The workstation may be configured to display an instrument panel that includes visual information of a position of the distal tip.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 344,256, filed on May 20, 2022, entitled “Visual Interface for Motorized Endoscope Control,” which is incorporated herein by reference. Technical Field

[0003] The present invention relates to a visual interface for motorized control of a medical device. More particularly, the present invention relates to a visual interface for enhanced control of a motorized medical device. Background Art

[0004] Medical devices, such as steerable / deflectable endoscopes and / or catheters, can be used to perform various diagnostic and / or therapeutic procedures. Different procedures may require different devices and / or different physical movements of the practitioner. Each of the known medical devices, systems, and methods has certain advantages and disadvantages. There is a need to provide alternative medical devices and systems, including controls and interfaces for operating and manipulating such medical devices. Summary of the invention

[0005] The present invention relates to several alternative visual interfaces for enhanced control of motorized medical devices, such as endoscopes.

[0006] In a first example, a steerable medical device and display system may include a handle and an elongated shaft extending distally from the handle to a distal tip; a motor control assembly including a motor control housing configured to be removably connected to the handle; a first deflection mechanism disposed within the handle, the first deflection mechanism configured to deflect the distal tip in a first plane; and a workstation in electronic communication with the motor control assembly. The workstation may include at least one display screen. The workstation may be configured to display a dashboard including visual information of a position of the distal tip.

[0007] Alternatively or additionally to any of the above examples, in another example, the visual information may include the position of the distal tip in two dimensions.

[0008] Alternatively or additionally to any of the above examples, in another example, the visual information may include a first bounding perimeter representing an available range of movement of the distal tip.

[0009] Alternatively or additionally to any of the above examples, in another example, the boundary perimeter may have a generally circular shape.

[0010] Alternatively or additionally to any of the above examples, in another example, the boundary perimeter may have a generally oval shape.

[0011] Alternatively or additionally to any of the above examples, in another example, the visual information may include two or more slide bars representing the available range of movement of the distal tip.

[0012] Alternatively or additionally to any of the above examples, in another example, at least one of the two or more slide bars may represent the available range of movement of the distal tip in a first direction, and at least one of the two or more slide bars may represent the available range of movement of the distal tip in a second direction different from the first direction.

[0013] Alternatively or additionally to any of the above examples, in another example, the visual information may include two or more arcs representing the available range of movement of the distal tip.

[0014] Alternatively or additionally to any of the above examples, in another example, the system may further include a joystick control configured to operate at least the first motor to drive the first deflection mechanism.

[0015] Alternatively or additionally to any of the above examples, in another example, the visual information may include the position of the joystick control in two dimensions.

[0016] Alternatively or additionally to any of the above examples, in another example, the visual information may include a second bounding perimeter representing an available range of movement of the joystick control.

[0017] Alternatively or additionally to any of the above examples, in another example, the visual information may include a speed pattern.

[0018] Alternatively or additionally to any of the above examples, in another example, the selected speed mode may include display of two or more speed modes and the selected speed mode is highlighted.

[0019] Alternatively or additionally to any of the above examples, in another example, the visual information may include an indication of motor torque.

[0020] Alternatively or additionally to any of the examples above, in another example, the indication of motor torque includes a shaded bar.

[0021] In another example, a steerable medical device and display system may include a handle and an elongated shaft extending distally from the handle to a distal tip; a motor control assembly including a motor control housing configured to be removably connected to the handle; a first deflection mechanism disposed within the handle, the first deflection mechanism configured to deflect the distal tip in a first plane; a motorized control interface configured to operate at least one motor disposed within the motor control housing; and a workstation in electronic communication with the motor control assembly. The workstation may include at least one display screen. The workstation may be configured to display a dashboard including visual information of a position of the distal tip and a position of the motorized control interface.

[0022] Alternatively or additionally to any of the above examples, in another example, the position of the distal tip can be represented by a first icon and the position of the motorized control interface by a second icon.

[0023] Alternatively or additionally to any of the above examples, in another example, the first icon can be configured to move on the display in response to movement of the distal tip.

[0024] Alternatively or additionally to any of the above examples, in another example, the second icon can be configured to move on the display in response to movement of the motorized control interface.

[0025] Alternatively or additionally to any of the above examples, in another example, the visual information can include a first bounding perimeter representing a range of available movement of the distal tip and a second bounding perimeter representing a range of available movement of the motorized control interface.

[0026] Alternatively or additionally to any of the above examples, in another example, the first boundary perimeter and the second boundary perimeter may be concentric circles.

[0027] Alternatively or additionally to any of the above examples, in another example, a center point of the first boundary perimeter and the second boundary perimeter can be a neutral position of the distal tip and the motorized control interface.

[0028] In another example, a steerable medical device and display system may include a handle and an elongated shaft extending distally from the handle to a distal tip; a motor control assembly, the motor control assembly including a motor control housing configured to be removably connected to the handle; a first deflection mechanism disposed within the handle, the first deflection mechanism configured to deflect the distal tip in a first plane; a motorized control interface, the motorized control interface configured to operate at least one motor disposed within the motor control housing; and a workstation in electronic communication with the motor control assembly. The workstation may include at least one display screen. The workstation may be configured to display a dashboard including visual information of the position of the distal tip, the position of the motorized control interface, a selected speed mode, and / or motor torque.

[0029] The above summary of some embodiments, aspects and / or examples is not intended to describe every embodiment or every implementation of the present invention. The following figures and detailed description more particularly exemplify these embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Embodiments of the present invention may be more fully understood by considering the following detailed description taken in conjunction with the accompanying drawings, in which:

[0031] Figure 1 Selected aspects of a medical device depicted as an endoscope system are shown;

[0032] Figure 2 is a schematic diagram of an illustrative graphical user interface;

[0033] Figure 3 yes Figure 2 Another schematic diagram of a portion of an illustrative graphical user interface;

[0034] FIG. 4A to FIG. 4D Shows Figure 2 how the graphical user interface of the endoscope system reacts to the moving parts of the endoscope system; and

[0035] Figures 5 to 8 is a schematic diagram of an alternative configuration for a graphical user interface.

[0036] Although embodiments of the present invention are suitable for various modifications and alternative forms, the specific details thereof have been shown in the accompanying drawings by way of example and will be described in more detail. However, it should be understood that the present invention is not intended to limit the various aspects of the present invention to the specific embodiments described. On the contrary, the present invention is intended to encompass all modifications, equivalents and substitutes that fall within the spirit and scope of the present invention. DETAILED DESCRIPTION

[0037] The following description should be read with reference to the accompanying drawings, which are not necessarily drawn to scale, in which the same reference numerals in several views indicate the same elements. The detailed description and the accompanying drawings are intended to illustrate, but not to limit, the claims. Those skilled in the art will recognize that the various elements described and / or shown may be arranged in various combinations and configurations without departing from the scope of the present invention. The detailed description and the accompanying drawings illustrate example embodiments. However, for the purpose of clarity and ease of understanding, although each feature and / or element may not be shown in each drawing, the features and / or elements may also be understood to be present unless otherwise stated.

[0038] For the following defined terms, these definitions shall apply unless a different definition is given in the claims or elsewhere in this specification.

[0039] All numerical values ​​are assumed to be modified by the term "about" herein, whether or not explicitly indicated. In the context of numerical values, the term "about" generally refers to a numerical range that one skilled in the art considers to be equivalent to the quoted value (e.g., having the same function or result). In many instances, the term "about" may include numbers rounded to the nearest significant figure. Unless otherwise specified, the term "about" (e.g., in a context other than numerical values) may be assumed to have its ordinary and customary definition, as understood and consistent with the context of this specification.

[0040] The recitation of numerical ranges by endpoints includes all numbers within that range, inclusive of the endpoints (eg, 1 to 5 includes 1, 1.5, 2, 2.75, 3, 3.80, 4, and 5).

[0041] Although some suitable sizes, ranges and / or values ​​are disclosed for various components, properties and / or specifications, those skilled in the art to which the present invention relates will understand that the desired sizes, ranges and / or values ​​may be derived from those explicitly disclosed.

[0042] As used in this specification and the appended claims, the singular forms "a", "an" and "the" include plural referents unless the content clearly indicates otherwise. As used in this specification and the appended claims, the term "or" is generally used in a sense that includes "and / or" unless the content clearly indicates otherwise. It should be noted that, for ease of understanding, certain features of the present invention may be described in the singular, even if those features may be plural or repeated in the disclosed embodiments. Each instance of a feature may include and / or contain a singular disclosure unless explicitly indicated to the contrary. For simplicity and clarity, not all elements of an embodiment of the present invention will necessarily be shown in each figure or discussed in detail below. However, it should be understood that unless explicitly stated to the contrary, the following discussion may be equally applicable to any and / or all of the components where there is more than one. Additionally, for clarity, all instances of some elements or features may not be shown in each figure.

[0043] Relative terms, such as "proximal," "distal," "advance," "retract," variations thereof, and the like, may generally be considered with respect to the positioning, orientation, and / or operation of various elements relative to a user of the device, with "proximal" and "retract" meaning or referring to closer to or toward the user and "distal" and "advance" meaning or referring to farther from or away from the user. In some cases, the terms "proximal" and "distal" may be arbitrarily assigned in order to facilitate understanding of the present invention, and such circumstances will be apparent to a skilled artisan. Other relative terms, such as "upstream," "downstream," "inflow," and "outflow" refer to the direction of fluid flow in a cavity, such as a body cavity, a blood vessel, or within a device.

[0044] It should be noted that references to "one embodiment", "some embodiments", "other embodiments", etc. in the specification indicate that the described embodiments may include a particular feature, structure, or characteristic, but each embodiment may not necessarily include the particular feature, structure, or characteristic. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is within the knowledge of a person skilled in the art to affect the particular feature, structure, or characteristic in conjunction with other embodiments, whether or not explicitly described, unless explicitly stated to the contrary. That is, the various individual elements described below, even if not explicitly shown in a particular combination, can still be considered to be combinable or arranged with each other to form other additional embodiments, or to supplement and / or enrich the described embodiments, as will be understood by a person of ordinary skill in the art.

[0045] For the sake of clarity, certain identifying digital nomenclature (e.g., first, second, third, fourth, etc.) can be used throughout the specification and / or claims to name and / or distinguish various descriptions and / or claimed features. It is to be understood that the digital nomenclature is not intended to be limiting and is merely exemplary. In certain embodiments, for the sake of brevity and clarity, the digital nomenclature previously used can be changed and deviate from. That is, the feature identified as a "first" element can be referred to as a "second" element, a "third" element, etc., later, or can be omitted completely, and / or different features can be referred to as a "first" element. The meaning and / or name in each case will be apparent to the technician.

[0046] Some medical / surgical procedures - for example: kidney stone management, ERCP (endoscopic retrograde pancreatocholangiopancreatography), lung biopsy, colonoscopy, bladder mapping, cardiac mapping, heart valve replacement and / or repair, and others - may require navigation of the elongated shaft of the medical device through tortuous anatomical structures to position the elongated shaft of the medical device, such as the distal tip of the elongated shaft, at a specific position and / or orientation. Some of these procedures may be long and / or may involve difficult body movements that may cause physician fatigue and / or musculoskeletal injuries. In some medical / surgical procedures, physicians may be at risk for work-related strain injuries due to repetitive motions, extended awkward postures, high forces, contact stresses, and / or vibrations. For example, some physicians may be at risk for de Quervain's tenosynovitis (swelling and pain at the base of the thumb), carpal tunnel syndrome, ganglion cysts, "trigger fingers," and / or other conditions. In some cases, the size of the physician's hands may negatively affect his or her ability to control a medical device and / or perform a medical / surgical procedure. Some medical devices may include features that can reduce and / or eliminate physician fatigue caused by procedures, can improve the usability and / or ergonomics of medical devices for different hand sizes, can provide more precision and / or more precise movement and stability when using the medical device, and can make it easier to learn to use the medical device and / or perform certain procedures. Such devices are described in commonly assigned U.S. patent application No. 63 / 187,988, filed on May 13, 2021, and entitled “Motorized Control for Medical Devices,” and U.S. patent application No. 17 / 741,887, filed on May 11, 2022, and entitled “Motorized Control for Medical Devices,” which are incorporated herein by reference.

[0047] In conventional endoscopes (e.g., without motorized controls), the knobs used to control movement of the distal tip provide the physician with tactile feedback to determine the position of the distal tip, as well as inherent force feedback to determine how much force the distal tip is applying to the patient's anatomy. Because motorized endoscopes replace manual control interfaces with motorized control interfaces (e.g., joysticks or other inputs), motorized endoscopes may not have the tactile and force feedback that physicians are accustomed to. The lack of such feedback may affect the physician's special awareness and sense of control when using a motorized endoscope. Additionally, the lack of such feedback may frustrate physicians and negatively impact their willingness to adopt a motorized endoscope. Disclosed herein are systems and methods that incorporate a visual interface to mitigate the loss of tactile feedback and may provide physicians with more of a sense of control.

[0048] Figure 1 Selected aspects of an exemplary medical device depicted as an endoscope system 100 that may include motorized control are shown. In some embodiments, the endoscope system 100 may include an endoscope 110. The endoscope 110 may be specific to a particular endoscopic procedure, such as, for example, a ureteroscope, a cystoscope, a nephroscope, a duodenoscope, etc., or may be a general device suitable for a variety of procedures. In some embodiments, the endoscope 110 includes a handle 112 and an elongated shaft 114 extending distally from the handle 112 to a distal tip 116. The handle 112 includes a first deflection mechanism 120 configured to deflect and / or articulate the distal tip 116 of the elongated shaft 114 in a first plane, and a second deflection mechanism 122 configured to deflect and / or articulate the distal tip 116 of the elongated shaft 114 in a second plane different from the first plane. In some embodiments, the first plane may be oriented in a manner that is at a non-zero angle to the second plane. In some embodiments, the first plane may be oriented in a manner that is perpendicular to the second plane. Other configurations are also contemplated. Although depicted as an endoscope system 100 including an endoscope 110, it should be noted and understood that the features, components and / or functionality described herein can be incorporated into another medical device, such as a steerable catheter or other medical device having one or more deflection mechanisms for controlling deflection and / or articulation of the distal tip of the elongated shaft of the medical device to facilitate navigation of the elongated shaft through the patient's anatomical structure. Thus, as desired, the described components, such as a handle, an elongated shaft, a deflection mechanism, a motor control assembly, and other components can be associated with another medical device having a deflectable / steerable distal tip of an elongated shaft.

[0049] In some embodiments, the first deflection mechanism 120 may include a first pulley or rotating member disposed within the handle 112 and operably connected to the distal tip 116. In some embodiments, one or more first cables, wires, or other filaments may engage and / or be connected to the first pulley within the handle 112. For example, the one or more first cables, wires, or filaments may engage and / or be connected to the distal tip 116 such that tension applied by the first pulley to the one or more first cables, wires, or filaments causes the distal tip 116 to deflect and / or articulate in a first plane. In some embodiments, the second deflection mechanism 122 may include a second pulley or rotating member disposed within the handle 112 and operably connected to the distal tip 116. In some embodiments, one or more second cables, wires, or other filaments may engage and / or be connected to a second pulley within the handle 112. For example, one or more second cables, wires, or filaments may be engaged with and / or connected to distal tip 116 such that tension applied to the one or more second cables, wires, or filaments by a second pulley causes distal tip 116 to deflect and / or articulate in a second plane. Other configurations are also contemplated.

[0050] In some embodiments, the endoscope system 100 may include a motor control assembly 140 including a motor control housing 142 configured to be removably connected to the handle 112 of the endoscope 110. In some embodiments, the motor control housing 142 may include a removable cover 141, wherein after removing the removable cover 141, the internal components of the motor control assembly 140 may be accessed. Additionally, in some embodiments, the motor control assembly 140 may include one or more internal covers (not explicitly shown) disposed within the motor control housing 142, which may protect certain components and / or groups of components from each other, contamination, etc. When so disposed, the one or more internal covers may provide structural support for selected internal components. It should be understood that the presence and / or use of all, some, or any of the one or more internal covers is optional and not required.

[0051] The motor control assembly 140 may include at least one motor disposed within a motor control housing 142. In some embodiments, the at least one motor may include a first motor disposed within the motor control housing 142. In some embodiments, the at least one motor may include a second motor disposed within the motor control housing 142. In some embodiments, the at least one motor may include a first motor and a second motor disposed within the motor control housing 142. For each controlled degree of freedom of the distal tip 116, a separate motor may be added to the at least one motor.

[0052] At least one motor can be electric and can be a brushed or brushless DC motor. At least one motor can provide partial force assistance to the user for deflecting the distal tip 116, from 0% to 100% force assistance, thereby allowing full manual control, auxiliary control with reduced lever / knob force, or full actuation control. Each motor can be attached to a rotary encoder that provides the relative position of the motor to the processor unit. In some embodiments, at least one motor can be controlled by a central processing unit (CPU), a microprocessor, and / or a combination thereof. In some embodiments, additional inputs for the CPU, microprocessor, and / or a combination thereof can include components of a user interface, tactile feedback electronics, etc.

[0053] In some embodiments, the motor control assembly 140 may include a user input mechanism or a motorized control interface. For example, the user input mechanism may include one or more of a joystick control, a scroll wheel, a knob, a slider, a keypad, a touch screen interface or control, a voice interface or control, and the like. In some embodiments, the motor control assembly 140 may include a joystick control 190 configured to operate at least one motor disposed within the motor control housing 142. In some embodiments, the joystick control 190 may be configured to operate the first motor, the second motor, or both the first and second motors. In some embodiments, the joystick control 190 may be configured to operate the first motor and the second motor simultaneously. In other embodiments, the joystick control 190 may be configured to operate the first motor and the second motor independently of each other. These are just some examples. Other configurations may also be envisioned.

[0054] In some embodiments, the motor control assembly 140 may include a homing feature configured to return the distal tip 116 to an original position (e.g., to a straightened and / or non-deflected configuration) and / or a speed control feature configured to control the speed and / or responsiveness of the movement of the distal tip 116. In some embodiments, the homing feature and / or the speed control feature may each include an input mechanism. For example, the input mechanism may be one or more buttons, a voice interface and / or controls, a gesture interface and / or controls, or other suitable means for providing input to the motor control assembly 140 and / or a user interface.

[0055] In some embodiments, the motor control assembly 140 may include one or more buttons 192. In some embodiments, the one or more buttons 192 may include a first button configured to return the distal tip 116 to an original position, wherein activation of the first button automatically actuates at least one motor to move the distal tip 116 to the original position. In some embodiments, the one or more buttons 192 may include a second button that may be configured by a user to maintain a saved position or configuration, wherein activation of the second button automatically actuates at least one motor to move the distal tip 116 to a saved position and / or configuration. Additional buttons and / or other configurations are also contemplated. Additionally, although the one or more buttons 192 are discussed herein by way of example, the motor control assembly 140 is not limited to the use of physical buttons and may include other input mechanisms.

[0056] In some embodiments, the motor control assembly 140 may include a self-homing feature and / or program. In one example, when the motor control assembly 140 is connected to the handle 112, a homing program and / or algorithm is sequentially activated and / or run for the first motor and the second motor (if any) (e.g., the program is completed on the first motor and then completed on the second motor). In some cases, the homing program and / or algorithm is automatically initiated when the motor control assembly 140 is connected to the handle 112. In other cases, when the motor control assembly 140 is connected to the handle 112, the user can press a button or otherwise manually initiate the homing program and / or algorithm. When the current is being monitored by the homing program and / or algorithm, the first motor can begin to rotate in the first direction. When a sudden increase in the amount of current drawn by the first motor is registered, encountered and / or identified, the position of the encoder is saved as a checkpoint for an upper or lower limit. The first motor then begins to rotate in a second direction opposite to the first direction, and again upon registering, encountering and / or identifying a sudden increase in the amount of current drawn by the first motor, the encoder value is saved as a second checkpoint for another limit of the range of motion of the shaft and / or first motor. After determining the upper and lower limits of the first motor (and finding their corresponding values ​​based on the encoder values), the algorithm can divide the number of ticks between the upper and lower limits by two. The corresponding encoder value will be the middle or home position of the range of motion of the shaft and / or first motor.

[0057] The same procedure is then repeated for the second motor, where the second motor can begin to rotate in the first direction while the current is being monitored by the homing procedure and / or algorithm. When a sudden increase in the amount of current drawn by the second motor is registered, encountered and / or identified, the position of the encoder is saved as a checkpoint for the upper or lower limit. The second motor then begins to rotate in a second direction opposite to the first direction, and again when a sudden increase in the amount of current drawn by the second motor is registered, encountered and / or identified, the value of the encoder is saved as a second checkpoint for another limit of the range of motion of the axis and / or second motor. After determining the upper and lower limits of the second motor (and finding their corresponding values ​​based on the encoder values), the algorithm can divide the number of scales between the upper and lower limits by two. The corresponding encoder value will be the middle or original position of the range of motion of the axis and / or second motor.

[0058] In another example, the homing feature and / or procedure may be manually activated after engaging the motor control assembly 140 to the handle 112 of the endoscope 110. Other configurations are also contemplated.

[0059] In some embodiments, the joystick control 190 can be configured to control the movement of the distal tip 116. In some embodiments, the joystick control 190 can be configured to control the speed of movement of the distal tip 116 and / or the responsiveness of the joystick control 190. In some embodiments, the motor control assembly 140 can include a speed change control button. In some embodiments, the speed change control button can be built into and / or can be integrated into the joystick control 190. For example, in some embodiments, pressing the joystick control 190 axially toward the motor control housing 142 can actuate the speed change control button. The speed change control feature and / or the speed change control button can actuate and / or cycle through multiple speed settings to allow at least a certain degree of customization of the speed and / or responsiveness of the movement of the distal tip 116. In some embodiments, the multiple speed settings can include at least a high speed setting that allows faster control and / or faster movement of the distal tip 116, and a low speed setting that allows finer control and / or slower movement of the distal tip 116. The plurality of speed settings may also include a medium speed setting and / or other speed settings (eg, medium-high, medium-low, ultra-low, etc.).

[0060] In some embodiments, the motor control housing 142, the speed change control feature, the speed change control button, and / or the multiple speed settings may be user customizable. For example, a user may be able to set a speed mode, select and / or set a desired speed, and / or set or save a speed mode and / or a desired speed. In some embodiments, the speed change control button may be pressed and held to set or save a speed mode and / or a desired speed. In some embodiments, the motor control housing 142 and / or the user interface may include additional buttons, keypads, scroll wheels, dials, touch interfaces, or other input mechanisms for setting and / or adjusting a speed mode and / or a desired speed. These are examples only, and other configurations may also be envisioned.

[0061] In some embodiments, the distal tip 116 may include a camera and may, for example, have deflection and / or articulation capabilities in one or more directions to view the patient's anatomy. In some embodiments, the endoscope 110 may be a duodenoscope, such as an Exalt TM However, other medical devices, such as another endoscope (e.g., ureteroscope, etc.) or related systems (e.g., Lithovue TM 、SpyScope TM DS, SpyGlass TM DS) can be used to supplement or replace the duodenoscope and / or endoscope 110. In some embodiments, the endoscope 110 can be configured to deliver fluid from the fluid management system to the treatment site via the elongated shaft 114. The elongated shaft 114 can include one or more working lumens for receiving a fluid flow and / or other medical devices therethrough. In some embodiments, the endoscope 110 can be connected to the fluid management system via one or more supply lines.

[0062] The handle 112 of the endoscope 110 may include a plurality of elements configured to facilitate endoscopic surgery. In some embodiments, an umbilicus 118 extends from the handle 112 and is configured to be attached to an electronic device (not shown), such as, for example, a computer system, a console, a microcontroller, etc., for providing power, analyzing endoscopic data, controlling endoscopic intervention, or performing other functions. In some embodiments, the electronic device to which the umbilicus 118 is connected may have the function of identifying and exchanging data with other endoscopic accessories. The handle 112 may include a gripping area 124 for the surgeon to grasp while performing endoscopic surgery. In some embodiments, the handle 112 may include a side port 126 that communicates with the elongated shaft 114 and / or one or more working cavities of the endoscope 110.

[0063] In some embodiments, the motor control umbilicus 138 may extend from the motor control housing 142 and may be configured to attach to an electronic device 150, which may be the same electronic device to which the umbilicus 118 is attached or may be a different electronic device, as desired, for providing power, controlling the endoscopic intervention and / or motor control components and / or other functions. In some embodiments, the motor control umbilicus 138 may be secured to the umbilicus 118. In some embodiments, the motor control umbilicus 138 may be releasably and / or removably secured to the umbilicus 118. In some embodiments, the motor control umbilicus 138 may be secured to the umbilicus 118 with a hook and loop closure (e.g., Velcro TM ), tape, ties or other fixation devices are secured to the umbilicus 118.

[0064] In some embodiments, the electronic device 150 may be a workstation including a touch screen computer 152, an interface box 154 for receiving wired connections 118, 138, a cart 156, a power supply 158, and the like. In some embodiments, the interface box 154 may be configured with a wired or wireless communication connection to the motor control assembly and / or the endoscope 110. The touch screen computer 152 may include at least a display screen 160 and an image processor (not explicitly shown). In some embodiments, the workstation 150 may be a multi-purpose component (e.g., used for more than one surgery), while the endoscope 110 may be a single-use device, however this is not required. It is contemplated that the electronic device 150 may take other forms, such as, but not limited to, a desktop computer, a laptop computer, a tablet, a handheld device, and the like. In addition, the electronic device 150 may include input methods that are in addition to or in lieu of touch screen input, including, but not limited to, a keyboard, a mouse, a joystick, and the like. As will be described in more detail herein, the display screen 160 may be configured to display a camera feed, the position of the distal tip 116, the speed of movement of the distal tip, and the like.

[0065] In some embodiments, the handle 112 may include at least one communication interface for attaching an accessory device. In some examples, the handle 112 may include a universal serial bus Type-C (USB-C) port, a universal serial bus (USB) port, an Ethernet port, and / or other types of ports. In some embodiments, more, less, and / or other various types of communication interfaces may be used, including, for example, custom interfaces. In some embodiments, the handle 112 has only one communication interface, but may be connected to, for example, a USB hub having multiple ports for connecting multiple accessories. In addition to exchanging data with the accessory device, at least one communication interface may also provide power to the accessory device. Therefore, the accessory device does not need to have a separate cable that travels to the connected electronic device or battery, which would add additional weight to the handle 112. In some embodiments, the accessory device may be uniquely associated with the endoscope 110 and recognized by the electronic device through a "plug and play" function without any user settings.

[0066] In some embodiments, the endoscope 110 may include one or more sensors adjacent to the distal tip 116 and / or the distal end of the elongated shaft 114. For example, the endoscope 110 may include a pressure sensor at the distal tip 116 of the elongated shaft 114 to measure the intracavitary pressure within the treatment site. The endoscope 110 may also include other sensors, such as, for example, a temperature sensor, a fiber Bragg grating optical fiber for detecting stress, and / or an antenna or an electromagnetic sensor (e.g., a position sensor). In some embodiments, the distal tip 116 and / or the distal end of the endoscope 110 may also include at least one camera to provide visual feedback to the user on a display screen of a touch screen computer. In another embodiment, the endoscope 110 may include two cameras with different communication requirements or protocols so that different information can be forwarded to the user by each camera. When so provided, the user can switch back and forth between cameras at will through a touch screen interface and / or a touch screen computer. Although not explicitly shown, the elongated shaft 114 may include one or more working cavities for receiving fluids and / or other medical devices. In some embodiments, the distal tip 116 may include an elevator configured to manipulate a guidewire, tool, medical device, etc. extending through the elongated shaft 114. The handle 112 may include an elevator control 128 operably connected to the elevator. In some embodiments, the at least one motor may include a motor configured to control movement of the elevator and / or provide power to the elevator. In some embodiments, the elevator motor may be disposed within the handle 112 of the endoscope 110.

[0067] In some embodiments, the position of the distal tip 116 and / or the distal end of the elongated shaft 114 can be tracked during use. For example, the mapping and navigation system may include an operating table (or other operating or examination table or chair, etc.) configured to act or be used as an electromagnetic generator for generating a magnetic field having a known geometry. Alternatively or additionally, an electromagnetic generator separate from the operating table may be provided. The operating table and / or the electromagnetic generator may be coupled to a control unit, which may include a processor, a memory, a display, and an input device, etc. A position sensor (e.g., an electromagnetic sensor, etc.) or an antenna may be incorporated into the distal tip 116 and / or the distal end of the elongated shaft 114 of the endoscope 110. The position sensor may be configured to sense the position of the position sensor in the magnetic field of the mapping and navigation system. In some embodiments, the position sensor may be electronically coupled to the workstation 150. When the position sensor is in the magnetic field, the position of the position sensor may be mathematically determined relative to the electromagnetic field source (e.g., the operating table and / or the electromagnetic generator). The workstation and the control unit may communicate to determine the position of the position sensor relative to the patient.

[0068] Figure 2 2 is a schematic diagram of an illustrative graphical user interface (GUI) 200 for providing feedback to a physician. The workstation 150 can be configured to display the GUI 200 on its display screen 160. The visual interface 200 can be displayed on, for example, a touch screen computer 152 or other display device as desired. The visual interface 200 can provide a first dashboard or window 202 to the physician and include visual information about an indication of the distal tip position, distal tip velocity, and the amount of force applied to the distal tip 116 of the scope. In some cases, the distal tip position of the scope can be provided in a first area 206 of the window 202, the distal tip velocity can be provided in a second area 208 of the window, and the amount of force applied to the distal tip can be provided in a third area 210 of the window 202. In other embodiments, information can be displayed in more than one window. For example, although not explicitly shown, the first, second, and third areas 206, 208, 210 can each be a separate window. It is also contemplated that the camera feed of the endoscope can be displayed in an additional window 204.

[0069] The distal tip position relative to the longitudinal axis of the elongated shaft 114 can be represented in two dimensions (2D), as shown in the first region 206. However, the distal tip position can be represented in three dimensions (3D) where sensors are added to the distal tip 116. Figure 2, the position of the distal tip 116 can be represented by a first shape or icon 212. In the illustrated embodiment, the first icon 212 is a circle; however, other geometric shapes or images can also be used as desired. In some cases, the first icon 212 can have a selected first color so that the position of the distal tip 116 is easily identified. It is also contemplated that the position of the joystick 190 can be represented by a second shape or icon 214. In the illustrated embodiment, the second icon 214 is a circle; however, other geometric shapes or images can also be used as desired. In some cases, the second icon 214 can have a second color that is different from the selected first color of the first icon 212, and / or the size of the first icon 212 can be different from the second icon 214, so that the position of the joystick 190 is easily identified.

[0070] The first region 206 may also include boundary perimeters 216, 218 representing the maximum movement (e.g., deflection) of the distal tip 116 and the joystick 190, respectively. The boundary perimeters 216, 218 may be concentric circles, wherein the focus or center point of the perimeters 216, 218 represents the neutral position of both the distal tip 116 and the joystick 190. The distance from the center of mass or center of the circle to the perimeter 216 may represent the amount or range of deflection allowed in a given direction. Although the boundary perimeters 216, 218 are illustrated as circles, the boundary perimeters 216, 218 represent the degree or distance of movement of the component or the available range of motion in a given direction. For example, if the distal tip 116 is configured to deflect more in one direction than in another direction, the boundary perimeter 216 may have an elliptical or oval shape, wherein the distance from the center of mass of the shape to the perimeter of the shape represents the amount or range of deflection allowed in a given direction. This is just an example. As desired, the boundary perimeters 216 and 218 may take other shapes. In some embodiments, the border perimeters 216, 218 can have a third color that is different from the first and second colors. The first area 206 can also include crosshairs 220a, 220b (collectively referred to as 220). The first crosshair 220a can represent the movement of the first motor in a first direction (such as up / down), and the second crosshair 220b can represent the movement of the second motor in a second direction (e.g., left / right). The crosshairs 220 can extend generally perpendicular to each other and can be used to help determine the position of the distal tip 116. In some embodiments, the crosshairs 220 can have the same color as the border perimeters 216, 218, however this is not required. If desired, the crosshairs 220 can have a fourth color that is different from the first, second, and third colors.

[0071] like Figure 2As shown, when the distal tip 116 is in a neutral position and the joystick 190 is not moved, the first and second icons 212, 214 representing the distal tip 116 and the joystick 190, respectively, are shown at the origin of the crosshairs 220. Figure 3 , which shows a first window 202 in which the distal tip 116 and the joystick 190 are in a deflected configuration, and when the user nudges or moves the joystick 190, the position of the joystick 190 is displayed to the user using a second icon 214. When the distal tip 116 moves, the first icon 212 also moves. Figure 3 As shown, the distance of the distal tip 116 from the neutral position (e.g., the deflection range of the distal tip 116 from the neutral position) can be indicated by a line 222 extending between the origin and the first icon 212. The line 222 can be the same color as the first icon 212, however this is not required.

[0072] When the motorized endoscope system 100 is turned on, calibration of the distal tip 116 relative to the joystick 190 and the dashboard 202 is initiated through a homing procedure, which can be performed in addition to, simultaneously with, or in place of the motor homing procedure. During the homing procedure, the distal tip 116 is automatically moved to the extreme or maximum "up" position, followed by the extreme or maximum "down" position, and the corresponding encoder values ​​for these positions are stored in the system memory. The same process is performed for the extreme or maximum "left" position and the extreme or maximum "right" position of the distal tip 116, respectively. These stored encoder values ​​are the maximum and minimum positions of the system on the X-axis and Y-axis, respectively. This position information can then be used to calculate the encoder value for the neutral or home position 224 of the distal tip 116. For the dashboard 202, as Figure 3 As shown, this neutral / home position 224 is represented by the center of the boundary perimeters 216, 218 or the intersection of the crosshairs 220. In addition, the maximum and minimum encoder values ​​of the two axes can be used to give the scaled radius of the boundary perimeters 216 and 218. For the dashboard 202, the encoder values ​​can also be scaled so that they are accurately represented within the circle. Therefore, each point within the area of ​​the circle represents a set of encoder values ​​for the two motors, which helps determine the position of the distal tip in 2D space (projected from the actual 3D space).

[0073] FIG. 4A to FIG. 4C The dashboard 202 shows how the user can move the distal tip 116 from the neutral position ( Figure 4A ) moves to the far right position ( Figure 4C ) to respond. Figure 4A The distal tip 116 is shown in a neutral or home position. Figure 4AAs seen in FIG. 2 , the dashboard 202 shows the first icon 212 (top position) and the second icon 214 (joystick position) as centered at the neutral / original position 224 , respectively. Figure 4B The distal tip 116 is shown in a first intermediate position between the neutral position and the extreme right position. Figure 4B , the dashboard 202 correspondingly shows the first icon 212 (tip position) and the second icon 214 (joystick position) moved to the right of the neutral / home position 224. In addition, the dashboard 202 also includes a line 222 indicating the distance that the distal tip 116 has moved from the center (e.g., the amount that the distal tip 116 has deviated from its neutral or home position). Figure 4C The distal tip 116 is shown in the extreme right position. Figure 4C As can be seen in FIG. 2 , the dashboard 202 shows the first icon 212 (tip position) and the second icon 214 (joystick position) moved to the right extremes of the boundary perimeters 216, 218, respectively. In addition, the dashboard 202 also includes a line 222 indicating the distance that the distal tip 116 has moved from the center (e.g., the amount that the distal tip 116 has deviated from its neutral or original position), which is proportional to the distance that the distal tip 116 has moved from the center. Figure 4B Once the distal tip 116 is gently pushed or moved to the right, as shown in FIG. Figure 4C As shown in , the user can then release the joystick 190. Figure 4D Dashboard 202 is shown when the user releases joystick 190 after distal tip 116 is in a desired position (e.g., to the far right in this illustrated embodiment). Distal tip 116 can be configured to maintain the deflected configuration once joystick 190 has been released until joystick 190 is actuated to move distal tip 116 into a different configuration. Second icon 214 (joystick position) has returned to neutral / original position 224 because the user is no longer actuating the joystick (e.g., it has been released), while first icon 212 (tip position) remains at boundary perimeter 216. Although FIG. 4A to FIG. 4D Distal tip 116 is shown and described as moving to the extreme right configuration, but it should be understood that distal tip 116 may move in any direction or combination of directions permitted by one or more motors.

[0074] As described above, system 100 can allow a user to select and move between two or more speeds at which distal tip 116 moves and / or the responsiveness of joystick control 190. Return Figure 3, the dashboard 202 may also be configured to display a selected speed mode, as shown in area 208. For example, the dashboard 202 may display the various speed modes as icons or panels 230, 232. The selected speed mode may be highlighted or illuminated to indicate the selection. Alternatively or additionally, when a user selects a speed mode, the speed mode panel 208 may be displayed and minimized after a predetermined length of time (e.g., a few seconds, a minute, etc.). For example, in some cases, when a user selects a speed mode, the selected speed mode may be displayed on the display in enlarged text for a predetermined length of time (e.g., a few seconds, a minute, etc.), and the size, position, etc. of the text of the selected speed may then be changed, such as being reduced in size, moved to another location on the display screen, or removed from the display as desired. Figure 3 2, the normal speed 232 is selected and lit, while the slow speed 230 is shaded. It is contemplated that the selected speed can be highlighted with the same color as the first icon 212 (top position), however, this is not required. In addition, while the dashboard 202 is shown as including two speeds and two corresponding panels 230, 232, the dashboard 202 can include any number of buttons to associate with the number of speed options. For example, in addition to or in lieu of the "slow" panel 230 or the "normal" panel 232, a "high speed" panel can also be provided.

[0075] Additionally, the amount of motor torque can also be displayed at the third area 210 on the dashboard 202. The amount of force feedback on the distal tip 116 that the physician would otherwise feel when navigating through the patient's anatomical structure can be calculated by measuring the relationship between the motor current and the motor torque. This can be displayed to the physician as a shaded bar 240, the size of which increases as the force increases. It is conceivable that the shaded bar 240 can have the same color as the first icon 212 (top position), but this is not necessary. As required, the maximum torque can extend the entire width of the dashboard 202 or extend to the maximum torque identified. Once the shaded bar 240 reaches the maximum force (e.g., the motor torque value when the motor current reaches a predetermined allowable limit), the user can be prohibited from increasing the force. The maximum value can be calculated by testing the relationship between the motor current and the motor torque. In some cases, the user or developer can determine the maximum force. Although the torque is shown as a shaded bar 240, it is conceivable that the torque can also be displayed in other ways. Alternatively or additionally, if a pressure sensor is present at the distal tip 116, the pressure measured at the pressure sensor can be used to display the amount of force feedback at the distal tip 16. If desired, pressure can be displayed in addition to or in lieu of motor torque.

[0076] The dashboard 202 may include additional features. For example, the user may have the ability to manipulate the size and position of the dashboard 202 on the screen, as well as the ability to control which dashboard features are to be displayed on the control bar 250. In some embodiments, the user may select to display one or a combination of two or more of the following: (1) distal tip position 206, (2) speed mode 208, and / or (3) force feedback (e.g., torque) 210. It is also contemplated that the user may select a display style for any of (1) distal tip position 206, (2) speed mode 208, and / or (3) force feedback (e.g., torque) 210. For example, alternative display configurations are described below. In some cases, the user may select to minimize, expand, or close the dashboard 202. Manipulation of the dashboard 202 may be accomplished through a joystick input or other input, or by using a touch screen for direct manipulation on a video display screen.

[0077] Figure 5 302 or dashboard for providing feedback to the physician. The dashboard 302 may be displayed, for example, on a touch screen computer 152 or other display device as desired. The dashboard or window 302 may be visible to the physician and include visual information regarding the distal tip position of the scope, the distal tip velocity, and an indication of the amount of force applied to the distal tip 116. In some cases, the distal tip position of the scope may be provided in a first region 306 of the window 302, the distal tip velocity may be provided in a second region 308 of the window, and the amount of force applied to the distal tip may be provided in a third region 310 of the window 302. In other embodiments, the information may be displayed in more than one window. For example, although not explicitly shown, the first, second, and third regions 306, 308, 310 may each be a separate window. It is also contemplated that the camera feed of the endoscope may be displayed in an additional window (not explicitly shown).

[0078] The distal tip position relative to the longitudinal axis of the elongated shaft 114 can be represented in two dimensions (2D), as shown in the first region 306. However, the distal tip position can be represented in three dimensions (3D) where sensors are added to the distal tip 116. Figure 5, the position of the distal tip 116 can be represented by a first shape or icon 312. In the illustrated embodiment, the first icon 312 is a circle; however, other geometric shapes or images can also be used as desired. In some cases, the first icon 312 can have a selected first color so that the position of the distal tip 116 is easily identified. It is also contemplated that the position of the joystick 190 can be represented by a second shape or icon 314. In the illustrated embodiment, the second icon 314 is a circle; however, other geometric shapes or images can also be used as desired. In some cases, the second icon 314 can have a second color that is different from the selected first color of the first icon 312 so that the position of the joystick 190 is easily identified.

[0079] The first region 306 may also include boundary perimeters 316, 318 representing the maximum movement of the distal tip 116 and the joystick 190, respectively. Figure 5 , the boundary perimeters 316, 318 have a generally oval shape. The boundary perimeters 316, 318 reflect the range of motion (e.g., amount of deflection) of the distal tip 116, which is greater in the up / down direction than in the left / right direction. It should be understood that if the range of motion is greater in the left / right direction, the major axis of the boundary perimeters 316, 318 would extend from left to right, rather than up / down, as shown in FIG. Figure 5 As shown. The distance from the centroid or center of the ellipse to the perimeter 316 can represent the amount of deflection allowed in a given direction. As needed, the boundary perimeters 316 and 318 can take other shapes. In some embodiments, the boundary perimeters 316, 318 can have a third color different from the first and second colors. The first area 306 can also include crosshairs 320a, 320b (collectively referred to as 320). The first crosshair 320a can represent the movement of the first motor in a first direction (such as up / down), and the second crosshair 320b can represent the movement of the second motor in a second direction (for example, left / right). The crosshairs 320 can extend approximately perpendicular to each other and can be used to help determine the position of the distal tip 116. In some embodiments, the crosshairs 320 can have the same color as the boundary perimeters 316, 318, but this is not required. If necessary, the crosshairs 320 can have a fourth color different from the first, second and third colors.

[0080] like Figure 5As shown, when the distal tip 116 is in the neutral position and the joystick 190 is not moved, the first and second icons 312, 314 representing the distal tip 116 and the joystick 190, respectively, are shown as being at the origin of the crosshairs 320. When the user nudges or moves the joystick 190, the position of the joystick 190 is displayed to the user using the second icon 314. As the distal tip 116 moves, the first icon 312 also moves. The distance of the distal tip 116 from the neutral position (e.g., the deflection range of the distal tip 116 from the neutral position) can be indicated by a line (not explicitly shown) extending between the origin and the first icon 312. The line can be the same color as the first icon 312, however this is not required. It is contemplated that the first area 306 can be displayed in a similar manner to that described with respect to FIG. FIG. 4A to FIG. 4D The described manner displays the position of the distal tip 116 and / or the joystick 190 .

[0081] When the motorized endoscope system 100 is turned on, calibration of the distal tip 116 relative to the joystick 190 and the dashboard 302 is initiated through a homing procedure, which can be performed in addition to, simultaneously with, or in place of the motor homing procedure. During the homing procedure, the distal tip 116 is automatically moved to the extreme or maximum "up" position, followed by the extreme or maximum "down" position, and the corresponding encoder values ​​for these positions are stored in the system memory. The same process is performed for the extreme or maximum "left" position and the extreme or maximum "right" position of the distal tip 116, respectively. These stored encoder values ​​are the maximum and minimum positions of the system on the X-axis and Y-axis, respectively. This position information can then be used to calculate the encoder value for the neutral or home position of the distal tip 116. For the dashboard 302, as Figure 5 As shown, this neutral / home position is represented by the center of the boundary perimeters 316, 318 or the intersection of the crosshairs 320. In addition, the maximum and minimum encoder values ​​of the two axes can be used to give the scaled radius of the boundary perimeters 316 and 318. For the dashboard 302, the encoder values ​​can also be scaled so that they are accurately represented within the ellipse. Therefore, each point within the area of ​​the ellipse represents a set of encoder values ​​for the two motors, which helps determine the position of the distal tip in 2D space (projected from the actual 3D space).

[0082] As described above, the system 100 can allow the user to select and move between two or more speeds at which the distal tip 116 moves and / or the responsiveness of the joystick control 190. The dashboard 302 can also be configured to display the selected speed mode, as shown in area 308. For example, the dashboard 302 can show the various speed modes as icons or panels 330, 332. The selected speed mode can be highlighted or lit to indicate selection. Figure 5, the normal speed 332 is selected and lit, while the slow speed 330 is shaded. It is contemplated that the selected speed can be highlighted with the same color as the first icon 312 (top position), however, this is not required. In addition, while the dashboard 302 is shown as including two speeds and two corresponding panels 330, 332, the dashboard 302 can include any number of buttons to associate with the number of speed options. For example, in addition to or in lieu of the "slow" panel 330 or the "normal" panel 332, a "high speed" panel can also be provided.

[0083] Additionally, the amount of motor torque can also be displayed at a third area 310 on the dashboard 302. The amount of force feedback on the distal tip 116 that the physician otherwise feels when navigating through the patient's anatomical structure can be calculated by measuring the relationship between the motor current and the motor torque. This can be displayed to the physician as a shaded bar 340, the size of which increases as the force increases. It is conceivable that the shaded bar 340 can have the same color as the first icon 312 (top position), but this is not necessary. As needed, the maximum torque can extend the entire width of the dashboard 302 or extend to the maximum torque identified. Once the shaded bar 340 reaches the maximum force (e.g., the motor torque value when the motor current reaches a predetermined allowable limit), the user can be prohibited from increasing the force. The maximum value can be calculated by testing the relationship between the motor current and the motor torque. Although the torque is shown as a shaded bar 340, it is conceivable that the torque can also be displayed in other ways.

[0084] Dashboard 302 may include additional features. For example, a user may have the ability to manipulate the size and position of dashboard 302 on the screen, as well as which dashboard features are to be displayed on control bar 350. In some embodiments, a user may select to display one or a combination of two or more of the following: (1) distal tip position 306, (2) speed mode 308, and / or (3) force feedback (e.g., torque) 310. It is also contemplated that a user may select a display style for any of (1) distal tip position 306, (2) speed mode 308, and / or (3) force feedback (e.g., torque) 310. For example, alternative display configurations are described below. In some cases, a user may select to minimize, expand, or close dashboard 302. Manipulation of dashboard 302 may be accomplished via joystick input or other input, or by using a touch screen for direct manipulation on a video display screen.

[0085] Figure 64 is a schematic diagram of an illustrative graphical user interface (GUI) 402 or dashboard for providing feedback to a physician. The dashboard 402 may be displayed, for example, on a touch screen computer 152 or other display device as desired. The dashboard or window 402 may be visible to the physician and include visual information regarding an indication of the distal tip position, distal tip velocity, and the amount of force applied to the distal tip 116 of the scope. In some cases, the distal tip position of the scope may be provided in a first region 406 of the window 402, the distal tip velocity may be provided in a second region 408 of the window, and the amount of force applied to the distal tip may be provided in a third region 410 of the window 402. In other embodiments, information may be displayed in more than one window. For example, although not explicitly shown, the first, second, and third regions 406, 408, 410 may each be a separate window. It is also contemplated that the camera feed of the endoscope may be displayed in an additional window (not explicitly shown).

[0086] exist Figure 6 , the position of the distal tip 116 can be represented by vertical sliding toggles 424a, 424b (collectively referred to as 424). The first sliding toggle 424a can be moved along the first vertical slide bar 412 to show the movement (e.g., deflection) of the distal tip 116 in the up / down direction within the first plane. For example, the sliding toggle 424a can be moved anywhere between the lowermost end 418 indicating that the distal tip 116 is in an extremely downward deflected configuration and the uppermost end 416 indicating that the distal tip 116 is in an extremely upward deflected configuration. The second sliding toggle 424b can be moved along the second vertical slide bar 414 to show the movement of the distal tip 116 in the left / right direction in a second plane perpendicular to the first plane. For example, the sliding toggle 424b can be moved anywhere between the lowermost end 422 indicating that the distal tip 116 is in an extremely leftward deflected configuration and the uppermost end 420 indicating that the distal tip 116 is in an extremely rightward deflected configuration. When the distal tip 116 is in a neutral position and the joystick 190 is not moved, both the first and second slide toggles 424 can be vertically centered along the vertical slide bars 412, 414. When the user nudges or moves the joystick 190, the distal tip 116 moves, and thus the slide toggles 424 also move. Thus, the amount that the slide toggles 424 move from the center position can represent or correspond to the amount of deflection of the distal tip 116 in the corresponding direction.

[0087] Although the slide toggle 424 is shown as having a generally rectangular shape, the slide toggle 424 can take any desired shape, such as, but not limited to, a circle, a triangle, a square, a polygon, etc. In addition, the shapes of the slide toggle 424 do not have to be identical to each other. In some cases, the slide toggle 424 can have a different color than the vertical slide bars 412, 414, however this is not required. In some embodiments, the vertical slide bars 412, 414 can include hatch marks or other spacing indicators between the respective extremes.

[0088] When the motorized endoscope system 100 is turned on, calibration of the distal tip 116 relative to the joystick 190 and the dashboard 402 is initiated by a homing procedure, which can be performed in addition to, simultaneously with, or in place of the motor homing procedure. During the homing procedure, the distal tip 116 is automatically moved to the extreme or maximum "up" position, followed by the extreme or maximum "down" position, and the corresponding encoder values ​​for these positions are stored in the system memory. The same process is performed for the extreme or maximum "left" position and the extreme or maximum "right" position of the distal tip 116, respectively. These stored encoder values ​​are the maximum and minimum positions of the system on the X-axis and Y-axis, respectively. This position information can then be used to calculate the encoder value of the neutral or original position of the distal tip 116. For the dashboard 402, this neutral / original position is represented by the vertical center of the vertical sliders 412, 414. In addition, the maximum and minimum encoder values ​​of the two axes can be used to give the scaled vertical height of the sliders 412, 414. For dashboard 402, the encoder values ​​may also be scaled to accurately represent them along vertical sliders 412, 414. Thus, each point along the vertical slider represents an encoder value for at least one of the two motors, which helps determine the position of the distal tip in 2D space (projected from actual 3D space).

[0089] As described above, the system 100 can allow the user to select and move between two or more speeds at which the distal tip 116 moves and / or the responsiveness of the joystick control 190. The dashboard 402 can also be configured to display the selected speed mode, as shown in area 408. For example, the dashboard 402 can show the various speed modes as icons or panels 430, 432. The selected speed mode can be highlighted or lit to indicate selection. Figure 64, the normal speed 432 is selected and lit, while the slow speed 430 is shaded. It is contemplated that the selected speed can be highlighted with the same color as the sliding toggle 432 (top position), however this is not required. In addition, while the dashboard 402 is shown as including two speeds and two corresponding panels 430, 432, the dashboard 402 can include any number of buttons to correlate with the number of speed options. For example, in addition to or in lieu of the "slow" panel 430 or the "normal" panel 432, a "high speed" panel can also be provided.

[0090] Additionally, the amount of motor torque can also be displayed at the third area 410 on the dashboard 402. The amount of force feedback on the distal tip 116 that the physician otherwise feels when navigating through the patient's anatomical structure can be calculated by measuring the relationship between the motor current and the motor torque. This can be displayed to the physician as a shaded bar 440, the size of which increases as the force increases. It is conceivable that the shaded bar 440 can have the same color as the sliding toggle 424 (top position), but this is not necessary. As required, the maximum torque can extend the entire width of the dashboard 402 or extend to the maximum torque identified. Once the shaded bar 440 reaches the maximum force (e.g., the motor torque value when the motor current reaches a predetermined allowable limit), the user can be prohibited from increasing the force. The maximum value can be calculated by testing the relationship between the motor current and the motor torque. Although the torque is shown as a shaded bar 440, it is conceivable that the torque can also be displayed in other ways.

[0091] Dashboard 402 may include additional features. For example, a user may have the ability to manipulate the size and position of dashboard 402 on the screen, as well as which dashboard features are to be displayed on control bar 450. In some embodiments, a user may select to display one or a combination of two or more of the following: (1) distal tip position 406, (2) speed mode 408, and / or (3) force feedback (e.g., torque) 410. It is also contemplated that a user may select a display style for any of (1) distal tip position 406, (2) speed mode 408, and / or (3) force feedback (e.g., torque) 410. For example, alternative display configurations are described below. In some cases, a user may select to minimize, expand, or close dashboard 402. Manipulation of dashboard 402 may be accomplished via joystick input or other input, or by using a touch screen for direct manipulation on a video display screen.

[0092] Figure 75 is a schematic diagram of an illustrative graphical user interface (GUI) 502 or dashboard for providing feedback to a physician. The dashboard 502 may be displayed, for example, on a touch screen computer 152 or other display device as desired. The dashboard or window 502 may be visible to the physician and include visual information about an indication of the distal tip position, distal tip velocity, and the amount of force applied to the distal tip 116 associated with the scope. In some cases, the distal tip position associated with the scope may be provided in a first region 506 of the window 502, the distal tip velocity may be provided in a second region 508 of the window, and the amount of force applied to the distal tip may be provided in a third region 510 of the window 502. In other embodiments, information may be displayed in more than one window. For example, although not explicitly shown, the first, second, and third regions 506, 508, 510 may each be a separate window. It is also contemplated that the camera feed of the endoscope may be displayed in an additional window (not explicitly shown).

[0093] exist Figure 7 , the position of the distal tip 116 can be represented by horizontal sliding toggles 524a, 524b (collectively referred to as 524). The first sliding toggle 524a can be moved along the first horizontal slide bar 512 to show the movement (e.g., deflection) of the distal tip 116 in the up / down direction within the first plane. For example, the sliding toggle 524a can be moved anywhere between the first end 516 indicating that the distal tip 116 is in an extremely upward deflected configuration and the second end 518 indicating that the distal tip 116 is in an extremely downward deflected configuration. The second sliding toggle 524b can be moved along the second horizontal slide bar 514 to show the movement (e.g., deflection) of the distal tip 116 in the left / right direction in a second plane perpendicular to the first plane. For example, the sliding toggle 524b can be moved anywhere between the first end 520 indicating that the distal tip 116 is in an extremely leftward deflected configuration and the second end 522 indicating that the distal tip 116 is in an extremely rightward deflected configuration. When the distal tip 116 is in a neutral position and the joystick 190 is not moved, both the first and second slide toggles 524 may be horizontally centered along the horizontal slide bars 512, 514. When the user nudges or moves the joystick 190, the distal tip 116 moves, and thus the slide toggles 524 also move. Thus, the amount that the slide toggles 524 move from the center position may represent or correspond to the amount of deflection of the distal tip 116 in the corresponding direction.

[0094] Although the slide toggle 524 is shown as having a generally triangular shape, the slide toggle 524 may take any desired shape, such as, but not limited to, a circle, a triangle, a square, a polygon, etc. In addition, the shapes of the slide toggle 524 need not be identical to one another. In some cases, the slide toggle 524 may have a different color than the horizontal slide bars 512, 514, however this is not required. In some embodiments, the horizontal slide bars 512, 514 may include hatch marks or other spacing indicators between the respective extremes.

[0095] When the motorized endoscope system 100 is turned on, calibration of the distal tip 116 relative to the joystick 190 and the dashboard 502 is initiated through a homing procedure, which can be performed in addition to, simultaneously with, or in lieu of the motor homing procedure. During the homing procedure, the distal tip 116 is automatically moved to an extreme or maximum "up" position, followed by an extreme or maximum "down" position, and the corresponding encoder values ​​for these positions are stored in the system memory. The same process is performed for the extreme or maximum "left" position and the extreme or maximum "right" position of the distal tip 116, respectively. These stored encoder values ​​are the maximum and minimum positions of the system on the X-axis and Y-axis, respectively. This position information can then be used to calculate the encoder value of the neutral or original position of the distal tip 116. For the dashboard 502, this neutral / original position is represented by the horizontal center of the horizontal sliders 512, 514. In addition, the maximum and minimum encoder values ​​of the two axes can be used to give the zoomed horizontal width of the sliders 512, 514. For dashboard 502, the encoder values ​​may also be scaled to accurately represent them along horizontal sliders 512, 514. Thus, each point along the horizontal slider represents an encoder value for at least one of the two motors, which helps determine the position of the distal tip in 2D space (projected from actual 3D space).

[0096] As described above, the system 100 can allow the user to select and move between two or more speeds at which the distal tip 116 moves and / or the responsiveness of the joystick control 190. The dashboard 502 can also be configured to display the selected speed mode, as shown in area 508. For example, the dashboard 502 can show the various speed modes as icons or panels 530, 532. The selected speed mode can be highlighted or lit to indicate selection. Figure 7530 , the normal speed 532 is selected and lit, while the slow speed 530 is shaded. It is contemplated that the selected speed may be highlighted in the same color as the slider 524 (top position), however this is not required. In addition, while the dashboard 502 is shown as including two speeds and two corresponding panels 530, 532, the dashboard 502 may include any number of buttons to correlate to the number of speed options. For example, in addition to or in lieu of the "slow" panel 530 or the "normal" panel 532, a "high speed" panel may also be provided.

[0097] Additionally, the amount of motor torque can also be displayed at a third area 510 on the dashboard 502. The amount of force feedback on the distal tip 116 that the physician otherwise feels when navigating through the patient's anatomical structure can be calculated by measuring the relationship between the motor current and the motor torque. This can be displayed to the physician as a shaded bar 540, the size of which increases as the force increases. It is conceivable that the shaded bar 540 can have the same color as the slider 524 (top position), but this is not necessary. As required, the maximum torque can extend the entire width of the dashboard 502 or extend to the maximum torque identified. Once the shaded bar 540 reaches the maximum force (e.g., the motor torque value when the motor current reaches a predetermined allowable limit), the user can be prohibited from increasing the force. The maximum value can be calculated by testing the relationship between the motor current and the motor torque. Although the torque is shown as a shaded bar 540, it is conceivable that the torque can also be displayed in other ways.

[0098] Dashboard 502 may include additional features. For example, a user may have the ability to manipulate the size and position of dashboard 502 on the screen, as well as which dashboard features are to be displayed on control bar 550. In some embodiments, a user may select to display one or a combination of two or more of the following: (1) distal tip position 506, (2) speed mode 508, and / or (3) force feedback (e.g., torque) 510. It is also contemplated that a user may select a display style for any of (1) distal tip position 506, (2) speed mode 508, and / or (3) force feedback (e.g., torque) 510. For example, alternative display configurations are described below. In some cases, a user may select to minimize, expand, or close dashboard 502. Manipulation of dashboard 502 may be accomplished via joystick input or other input, or by using a touch screen for direct manipulation on a video display screen.

[0099] Figure 86 is a schematic diagram of an illustrative graphical user interface (GUI) 602 or dashboard for providing feedback to a physician. The dashboard 602 may be displayed, for example, on a touch screen computer 152 or other display device as desired. The dashboard or window 602 may be visible to the physician and include visual information regarding the distal tip position of the scope, the distal tip velocity, and an indication of the amount of force applied to the distal tip 116. In some cases, the distal tip position of the scope may be provided in a first region 606 of the window 602, the distal tip velocity may be provided in a second region 608 of the window, and the amount of force applied to the distal tip may be provided in a third region 610 of the window 602. In other embodiments, information may be displayed in more than one window. For example, although not explicitly shown, the first, second, and third regions 606, 608, 610 may each be a separate window. It is also contemplated that the camera feed of the endoscope may be displayed in an additional window (not explicitly shown).

[0100] exist Figure 8 , the position of the distal tip 116 can be represented by a first arc 612 and a second arc 614. For example, the first arc 612 can represent up / down movement (e.g., deflection) of the distal tip 116 in a first plane, and the second arc 614 can represent left / right movement (e.g., deflection) of the distal tip 116 in a second plane that can be perpendicular to the first plane. The arcs 612, 614 can be reminiscent of a turntable on a conventional (e.g., non-motorized) endoscope to provide familiarity to the user. Therefore, the length of the first arc 612 can represent or correspond to the amount of deflection of the distal tip 116 in the up / down direction in the first plane, and the length of the arc 614 can represent or correspond to the amount of deflection of the distal tip 116 in the left / right direction in the second plane. It is contemplated that directional information (such as, Figure 6 and Figure 7 The directional information is converted into arcs 612, 614. For example, polar coordinates can be used to convert linear information into arcs of a turntable and / or circle.

[0101] In some examples, the arcs 612, 614 may include marks or other visual markers displayed adjacent thereto that indicate the relative position of the distal tip 116. For example, the first arc 612 may include marks near the uppermost (extreme upper) position, the neutral position, and the lowermost (extreme lower) position of the distal tip 116. Similarly, the second arc 614 may include marks near the leftmost (extreme left) position, the neutral position, and the rightmost (extreme right) position of the distal tip 116. Additional position marks may be provided as needed. It is conceivable that the marks may be formed of different colors, sizes, shapes, etc. to distinguish between the neutral position and the extreme position. In one example, the neutral position of the first and second arcs 612, 614 may be identified with a first color, and the extreme positions (upper, lower, left, right) may be identified with one or more colors different from the first color. In another example, letters may be used to identify the marks. For example, "N" may be used to identify the neutral position marker, "U" may be used to identify the topmost marker, "D" may be used to identify the bottommost marker, "L" may be used to identify the leftmost marker, and "R" may be used to identify the rightmost marker. These are just some examples. Other identifying markers or visual cues may be used as desired.

[0102] When the motorized endoscope system 100 is turned on, calibration of the distal tip 116 relative to the joystick 190 and the dashboard 602 is initiated through a homing procedure, which can be performed in addition to, simultaneously with, or in place of the motor homing procedure. During the homing procedure, the distal tip 116 is automatically moved to the extreme or maximum "up" position, followed by the extreme or maximum "down" position, and the corresponding encoder values ​​for these positions are stored in the system memory. The same process is performed for the extreme or maximum "left" position and the extreme or maximum "right" position of the distal tip 116, respectively. These stored encoder values ​​are the maximum and minimum positions of the system on the X-axis and Y-axis, respectively. This position information can then be used to calculate the encoder value for the neutral or original position of the distal tip 116.

[0103] As described above, the system 100 can allow the user to select and move between two or more speeds at which the distal tip 116 moves and / or the responsiveness of the joystick control 190. The dashboard 602 can also be configured to display the selected speed mode, as shown in area 608. For example, the dashboard 602 can show the various speed modes as icons or panels 630, 632. The selected speed mode can be highlighted or lit to indicate selection. Figure 8, the normal speed 632 is selected and lit, while the slow speed 630 is shaded. In addition, although the dashboard 602 is shown as including two speeds and two corresponding panels 630, 632, the dashboard 602 can include any number of buttons to correlate with the number of speed options. For example, in addition to or in lieu of the "slow" panel 630 or the "normal" panel 632, a "high speed" panel can also be provided.

[0104] Additionally, the amount of motor torque can also be displayed at a third area 610 on the dashboard 602. The amount of force feedback on the distal tip 116 that the physician would otherwise feel when navigating through the patient's anatomical structure can be calculated by measuring the relationship between the motor current and the motor torque. This can be displayed to the physician as a shaded bar 640, the size of which increases as the force increases. As needed, the maximum torque can extend the entire width of the dashboard 602 or extend to the maximum torque identified. Once the shaded bar 640 reaches the maximum force (e.g., the motor torque value when the motor current reaches a predetermined allowable limit), the user can be prohibited from increasing the force. The maximum value can be calculated by testing the relationship between the motor current and the motor torque. Although the torque is shown as a shaded bar 640, it is conceivable that the torque can also be displayed in other ways.

[0105] Dashboard 602 may include additional features. For example, a user may have the ability to manipulate the size and position of dashboard 602 on the screen, as well as which dashboard features are to be displayed on control bar 650. In some embodiments, a user may select to display one or a combination of two or more of the following: (1) distal tip position 606, (2) speed mode 608, and / or (3) force feedback (e.g., torque) 610. It is also contemplated that a user may select a display style for any of (1) distal tip position 606, (2) speed mode 608, and / or (3) force feedback (e.g., torque) 610. For example, alternative display configurations are described below. In some cases, a user may select to minimize, expand, or close dashboard 602. Manipulation of dashboard 602 may be accomplished via joystick input or other input, or by using a touch screen for direct manipulation on a video display screen.

[0106] In some embodiments, the endoscope, motor control assembly (assemblies) and / or controller described herein may include one or more safety mechanisms configured to prevent tissue damage and / or damage to the endoscope itself. In some embodiments, the endoscope may include an on / off indicator (e.g., a light, LED, etc.) that displays to the user whether the selected feature is engaged or disabled. In some embodiments, a strain gauge on a cable, wire, or filament engaged with a pulley, or an optical strain gauge fiber may be used to infer the pressure applied by the endoscope to adjacent tissues. In any case, the safety threshold of pressure or strain may be an adjustable input variable that the user can select and / or adjust before and / or during surgery. When the pressure or strain exceeds the safety threshold, the distal tip may return to the original position, or other pre-programmed actions may be implemented. In some embodiments, the user may select between these options as another user input factor. In some embodiments, there may be more than one pressure or strain safety threshold. In some embodiments, the safety threshold may be activated and / or deactivated by the user via voice commands, buttons on the endoscope, touch screen controls, or other methods.

[0107] Materials that can be used for the systems disclosed herein and various elements thereof can include those commonly associated with medical devices. For simplicity, the following discussion refers to the system. However, this is not intended to limit the devices and methods described herein, as the discussion can be applicable to other elements, components, parts or devices disclosed herein, such as, but not limited to, handles, elongated shafts, deflection mechanisms, motors, pulleys, drive shafts, joystick controls, buttons, distal tips, motor control housings, etc. and / or elements or parts thereof.

[0108] In some embodiments, the system and / or components thereof may be made of metals, metal alloys, polymers (some examples of which are disclosed below), metal-polymer composites, ceramics, combinations thereof, or the like, or other suitable materials.

[0109] Some examples of suitable polymers may include polytetrafluoroethylene (PTFE), ethylene tetrafluoroethylene (ETFE), fluorinated ethylene propylene (FEP), polyoxyethylene (POM, e.g., commercially available from DuPont ), polyether block esters, polyurethanes (e.g., polyurethane 85A), polypropylene (PP), polyvinyl chloride (PVC), polyether esters (e.g., commercially available from DSM Engineering Plastics ), ether- or ester-based copolymers (e.g., butylene phthalate / poly(alkylene ether) and / or other polyester elastomers, such as those commercially available from DuPont ), polyamide (for example, commercially available from Bayer or commercially available from Elf Atochem ), elastomeric polyamides, block polyamide / ether, polyether block amide (PEBA, for example, available under the trade name Commercially available), ethylene-vinyl acetate copolymer (EVA), silicone, polyethylene (PE), High density polyethylene, Low-density polyethylene, linear low-density polyethylene (e.g. ), polyester, polybutylene terephthalate (PBT), polyethylene terephthalate (PET), polytrimethylene terephthalate, polyethylene naphthalate (PEN), polyetheretherketone (PEEK), polyimide (PI), polyetherimide (PEI), polyphenylene sulfide (PPS), polyphenylene oxide (PPO), poly(p-phenylene terephthalamide) (e.g., ), polysulfone, nylon, nylon-12 (such as commercially available from EMS American Grilon ), perfluoro(propyl vinyl ether) (PFA), ethylene vinyl alcohol, polyolefins, polystyrene, epoxy resins, polyvinylidene chloride (PVdC), poly(styrene-b-isobutylene-b-styrene) (e.g., SIBS and / or SIBS 50A), polycarbonate, polyurethane silicone copolymers (e.g., Aortech Biomaterials' or AdvanSource Biomaterials ), biocompatible polymers, other suitable materials or mixtures, combinations, copolymers, polymer / metal composites, etc. In some embodiments, the sheath can be mixed with a liquid crystal polymer (LCP). For example, the mixture can contain up to about 6% LCP.

[0110] Some examples of suitable metals and metal alloys include stainless steels, such as 304V, 304L, and 316LV stainless steel; low carbon steel; nickel titanium alloys, such as linear elastic and / or superelastic Nitinol; other nickel alloys, such as nickel-chromium-molybdenum alloys (e.g., UNS: N06625, such as 625, UNS:N06022, such as UNS:N10276, such as other alloys, etc.), nickel-copper alloys (e.g., UNS: N04400, such as 400, 400, 400, etc.), nickel-cobalt-chromium-molybdenum alloys (e.g., UNS: R30035, such as etc.), nickel-molybdenum alloys (e.g., UNS: N10665, such as ALLOY ), other nickel-chromium alloys, other nickel-molybdenum alloys, other nickel-cobalt alloys, other nickel-iron alloys, other nickel-copper alloys, other nickel-tungsten or tungsten alloys, etc.; cobalt-chromium alloys; cobalt-chromium-molybdenum alloys (e.g., UNS: R30003, such as etc.); platinum-rich stainless steel; titanium; platinum; palladium; gold; combinations thereof; or any other suitable material.

[0111] In at least some embodiments, part or all of the system and / or portions thereof may also be doped with, made of, or otherwise include radiopaque materials. Radiopaque materials are understood to be capable of producing relatively bright images on a fluoroscopic screen or with another imaging technique during a medical procedure. Such relatively bright images assist the user of the system in determining its position. Some examples of radiopaque materials may include, but are not limited to, gold, platinum, palladium, tantalum, tungsten alloys, polymer materials loaded with radiopaque fillers, and the like. Additionally, other radiopaque marker bands and / or coils may also be incorporated into the design of the system to achieve the same results.

[0112] In some embodiments, a degree of magnetic resonance imaging (MRI) compatibility is imparted to the systems and / or other elements disclosed herein. For example, the system and / or its components or portions may be made of materials that do not substantially distort the image and do not create a large number of artifacts (i.e., gaps in the image). For example, certain ferromagnetic materials may be unsuitable because they may create artifacts in MRI images. The system or portions thereof may also be made of materials that can be imaged by an MRI machine. Some materials that exhibit these properties include, for example, tungsten, cobalt-chromium-molybdenum alloys (e.g., UNS: R30003, such as etc.), nickel-cobalt-chromium-molybdenum alloys (e.g., UNS: R30035, such as etc.), Nitinol, etc.

[0113] In some embodiments, the system and / or other elements disclosed herein may include and / or be treated with a suitable therapeutic agent. Some examples of suitable therapeutic agents may include anticoagulants (such as heparin, heparin derivatives, urokinase, and PPack (dextrophenylalanine proline arginine chloromethyl ketone); antiproliferative agents (such as enoxaparin, angiopeptin, monoclonal antibodies capable of blocking smooth muscle cell proliferation, hirudin, and acetylsalicylic acid); anti-inflammatory drugs (such as dexamethasone, prednisolone, corticosterone, budesonide, estrogen, sulfasalazine, and mesalazine); anti-tumor / antiproliferative / anti-mitotic agents (such as paclitaxel, 5-fluorouracil, cisplatin, vinblastine, vincristine, epothilone, endostatin, angiostatin, and thymidine kinase inhibitors); anesthetics (such as lidocaine, bupivacaine, and ropivacaine); anticoagulants (such as D-Phe-Pro-Arg chloromethyl ketone); ketones, compounds containing RGD peptides, heparin, antithrombin compounds, platelet receptor antagonists, antithrombin antibodies, antiplatelet receptor antibodies, aspirin, prostaglandin inhibitors, platelet inhibitors and tick antiplatelet peptides); vascular cell growth promoters (such as growth factor inhibitors, growth factor receptor antagonists, transcription activators and translation promoters); vascular cell growth inhibitors (such as growth factor inhibitors, growth factor receptor antagonists, transcription inhibitors, translation inhibitors, replication inhibitors, inhibitory antibodies, antibodies to growth factors, bifunctional molecules composed of growth factors and cytotoxins, bifunctional molecules composed of antibodies and cytotoxins); cholesterol-lowering agents; vasodilators; and agents that interfere with endogenous vasoactive mechanisms.

[0114] It should be understood that the present invention is in many respects merely illustrative. Changes may be made in details, particularly matters of shape, size, and arrangement of steps, without exceeding the scope of the present invention. To the extent appropriate, this may include using any of the features of an example embodiment used in other embodiments. Of course, the scope of the present invention is defined by the language of the appended claims.

Claims

1. A steerable medical device and display system, comprising: a handle and an elongated shaft extending distally from the handle to a distal tip; a motor control assembly including a motor control housing configured to be removably coupled to the handle; a first deflection mechanism disposed within the handle, the first deflection mechanism configured to deflect the distal tip in a first plane; as well as a workstation in electronic communication with the motor control assembly, the workstation including at least one display screen; Wherein the workstation is configured to display a dashboard including visual information of the position of the distal tip.

2. The system of claim 1, wherein the visual information comprises the position of the distal tip in two dimensions.

3. The system of any one of claims 1 to 2, wherein the visual information includes a first bounding perimeter representing an available range of movement of the distal tip. The system of claim 3 , wherein the boundary perimeter has a generally circular shape. The system of claim 3 , wherein the boundary perimeter has a generally oval shape.

6. The system of any one of claims 1 to 2, wherein the visual information includes two or more slide bars representing an available range of movement of the distal tip.

7. A system according to claim 6, wherein at least one of the two or more sliding bars represents the available range of movement of the distal tip in a first direction, and at least one of the two or more sliding bars represents the available range of movement of the distal tip in a second direction different from the first direction.

8. The system of any one of claims 1 to 2, wherein the visual information includes two or more arcs representing an available range of movement of the distal tip.

9. The system of any one of claims 1 to 8, further comprising a joystick control configured to operate at least a first motor to drive the first deflection mechanism.

10. The system of claim 9, wherein the visual information includes a position of the joystick control in two dimensions.

11. The system of any one of claims 9 to 10, wherein the visual information includes a second bounding perimeter representing an available range of movement of the joystick control.

12. The system of any one of claims 1 to 11, wherein the visual information includes a speed pattern.

13. The system of claim 12, wherein the selected speed mode includes a display of two or more speed modes and the selected speed mode is highlighted.

14. A system according to any one of claims 1 to 13, wherein the visual information comprises an indication of motor torque.

15. The system of claim 14, wherein the indication of motor torque comprises a shaded bar.

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